The Effect of Video Distraction on High-Intensity Exercise Performance

International Journal of Exercise Science: Conference Proceedings · 2020

• Computer Science
• Computer Science
• Physical medicine and rehabilitation

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Dynamic Matching Algorithms in Practice

arXiv (Cornell University) · 2020

• Computer Science
• Computer Science
• Algorithm

In recent years, significant advances have been made in the design and analysis of fully dynamic maximal matching algorithms. However, these theoretical results have received very little attention from the practical perspective. Few of the algorithms are implemented and tested on real datasets, and their practical potential is far from understood. In this paper, we attempt to bridge the gap between theory and practice that is currently observed for the fully dynamic maximal matching problem. We engineer several algorithms and empirically study those algorithms on an extensive set of dynamic instances.

An Overview of Interaction Techniques and 3D Representations for Data Mining

InTech eBooks · 2012-05-02 · 9 citations

International audience

Contact operations using an instrumented compliant wrist

Lecture notes in control and information sciences · 2006-01-25 · 6 citations

A structured approach t robot programmtmg and teaching

2005-08-24 · 2 citations

This paper describes a structured programming and teaching system for a robot manipuLator where stress is Laid on the consistent integration of programming and teaching. Tn the PAL programming system being developed at Purdue, tasks are represented in terms of structured Cartesian coordinates. Every motion statement is a request to position and orient the manipulator such that a position equation, representing a closed kinematic chain of homogeneous transformations, is satisfied. In the teaching process, the transformation which represents the position of the end of the manipulator is defined using the manipulator itself, and an equation relating any undefined transformations is obtained. By defining these equations during the interpretation of the task program and progressive by solving them, the task is taught. The method is applicabLe both to practical industrial robot control and to intelligent robot control.

A Symbolic Teleoperator Interface For Time-delayed Underwater Robot Manipulation

2005-08-24 · 30 citations

The Hamilton wrist: a four-revolute-joint spherical wrist without singularities

2003-01-07 · 13 citations

The authors present an inverse kinematic algorithm for a four-revolute-joint (4-R) spherical wrist that provides for a complete set of spatial orientations, is nonsingular, and is simple to implement with existing technology. The algorithm is a rate-controlled method that depends on the required Cartesian rate. In the process of presenting the algorithm, the authors have developed the fundamentals of differential motion with n-revolute-joint spherical wrists. The method is outlined and applied to a 4-R regional structure. The goal is to combine the 4-R spherical wrist with the 4-R regional structure to develop an 8-R manipulator that is free of internal singularities.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

A comparison of transforms and quaternions in robotics

2003-01-06 · 16 citations

Three-dimensional modeling of rotations and translations in robot kinematics is most commonly performed using homogeneous transforms. An alternate approach, using quaternion/vector pairs as spatial operators, is discussed and analyzed. Sequential and parallel algorithms for some of the common spatial operations are given for both homogeneous transforms and quaternion/vector pairs and compared in terms of computational efficiency. The two approaches are shown to be essentially equivalent in the absence of the need for frequent renormalization of rotational operators.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

Non-kinematic errors in robot manipulators

2003-01-06 · 3 citations

The ability of a robot manipulator to position its end-effector accurately depends not only on kinematic modeling of the robot but also on the dynamic execution of the transformation between end-effector coordinates and joint coordinates. The authors examine errors associated with various approaches of motion trajectory generation and evaluate them statistically. Two approaches to controlling errors are considered: VAL, which has been developed by them, and resolved motion rate control (RMRC), which is due to D.E. Whitney (1986).< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

On position compensation and force control stability of a robot with a compliant wrist

2003-01-06 · 61 citations

A compliant wrist instrumented between a robot and its end effector provides a necessary compliance for assembly operations, and the displacement and force information generated from the wrist sensor can be utilized to actively control the end effector. The authors discuss the position compensation for the detection of the compliant wrist due to the gravity load and other external forces at the unconstrained space, and the force control as the robot is constrained with the environment. The system stability problem and dynamic performance are investigated for the different control laws, wrist parameters, and environment models. By analysis and simulation, some meaningful conclusions are obtained. The results are useful for design of the compliant wrist device and determination of the compensator law in the feedback loop.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>